ZLTECH ZLIM42C, Manual

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ZLIM42C Integrated Open Loop Step Motor Manual Version 1.03 ZLIM42C Integrated Open Loop Step Motor Manual Version 1.03
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3)6098h = 24: Find the origin in the opposite direction. When the origin is
encountered, it will decelerate to stop and go back a distance. Then it will find the
origin in the reverse direction at a slow speed. When an inverse limit is encountered
during homing, the reverse movement continues to search for the origin. If the
motor runs in the forward direction and the positive limit is valid, it will
immediately stop and fail to return to the
origin.
4) 6098h = 29: Find the origin in the positive direction. After encountering the
origin, decelerate and stop, and then find the origin in a slow forward direction.
Stop after finding it and the homing operation is completed. When the positive
limit is encountered during homing, the reverse movement continues to search for
the origin. If the motor runs in the reverse direction, the negative limit is valid, the
machine stops immediately, and the homing fails.
The 609901h object is the origin search speed, and the 609902h object is the origin
search speed. The lower the value of 6009902h, the higher the search accuracy. In
addition, if you need to set the origin position to a position away from the
mechanical origin, you can set the origin offset by 607Ch carry out.

Control word and status word
※
The control word in homing mode is controlled by bit4, bit8
Byte Name
Function Description
Bit4 Homing operation start
0: Zero return mode is not active
0 1: Start zero return mode
1: Home mode is activated
1 0: Interrupt return to zero mode
Bit8 Halt
0: Perform Bit4 exercise
1: Stop motion with zero return acceleration
Note: According to the table above, the control word is sent as 0x0F-> 0x1F.
※
Bit8 and Bit10 of status word show the driver status:
Byte Name Function Description
Bit8 Homing attained
0: Zero return mode is not completed
1: Zero return mode is complete
Bit10 Target reached
0: Halt = 0 The home position is not reached;
Halt = 1 motor deceleration;
1: Halt = 0 reached zero position;